Study Of Master-Slave Control System Of The Teleoperating Underwater Manipulator

With some improvement on performance of the S1WR--II type ofunderwater manipu1ator, there is a te1eoperating experiment system ofunderwater work, which forms an experimenta1 p1atform for the studyof work system of underwater robot and estab1ishes the foundation forfurther study of the te1eoperating experiment system of underwatermanipu1ator.In this paper, the constitution of the experiment system isintroduced main1y and every part of the system is ana1yzed concise1y;then some contro1 ways such as joystick contro1 way and 1ocal areanetwork contro1 way are brought forward and ana1yzed, and the contro1softv!are \\'hich is opening, extendab1e and have friend1y interface isprogranuned with progranuning 1anguage Visua1 C++ 6. 0. After thehardware and software of the contro1 system of the experiment systemhave been finished, an experiment is done on the basis of the experimentsystem. The resu1t of the experiment shows that the underwatermanipu1ator can be contro11ed under the contro1 ways of joystick and1oca1 area network, and can finished the required work missions in thetwo contro1 ways.